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<div class="textblock"><p>Some classes in ARIA and ArNetworking check a program's run time options to specify parameters and options.</p>
<p>These options are used to configure run time accessory device parameters (ports, speeds, etc.) used by ARIA; host names, port numbers, etc. used by ArNetworking; and various other run time options. Options may be given as program arguments on the command line, or globally saved as defaults in the file /etc/Aria.args if on Linux, or in the ARIAARGS environment variable. Arguments given on the command line may override some internal defaults or values read from the robot parameter files.</p>
<p>Note, an option will be available only in programs that instantiate an object of the class that uses it. Some programs may also check for program-specific command line options.</p>
<p>Use the special "-help" command line option to cause a program to print out its available options.</p>
<p>A list of options used by each class follows.</p>
<h1><a class="anchor" id="ArRobotConnector"></a>
ArRobotConnector</h1>
<p>(See <a class="el" href="classArRobotConnector.html" title="Connect to robot or simulator based on program command line parameters. ">ArRobotConnector</a> for class documentation)</p>
<pre class="fragment">Options for ArRobotConnector (see docs for more details):

Robot options:
-remoteHost &amp;lt;remoteHostNameOrIP&amp;gt;
-rh &amp;lt;remoteHostNameOrIP&amp;gt;
-robotPort &amp;lt;robotSerialPort&amp;gt;
-rp &amp;lt;robotSerialPort&amp;gt;
-robotBaud &amp;lt;baud&amp;gt;
-rb &amp;lt;baud&amp;gt;
-remoteRobotTcpPort &amp;lt;remoteRobotTcpPort&amp;gt;
-rrtp &amp;lt;remoteRobotTcpPort&amp;gt;
-remoteIsSim
-ris
-remoteIsNotSim
-rins
-robotLogPacketsReceived
-rlpr
-robotLogPacketsSent
-rlps
-robotLogMovementReceived
-rlmr
-robotLogMovementSent
-rlms
-robotLogVelocitiesReceived
-rlvr
-robotLogActions
-rla
</pre><h1><a class="anchor" id="ArLaserConnector"></a>
ArLaserConnector</h1>
<p>(See <a class="el" href="classArLaserConnector.html" title="Create laser interface objects (for any kind of laser supported by ARIA) and connect to lasers based ...">ArLaserConnector</a> for class documentation)</p>
<pre class="fragment">Laser types and options may also be set in the robot parameter file.  See the
ARIA reference documentation for details.

If a program supports multiple lasers, then options for additional lasers
after the first are given by appending the laser number (e.g. -laserType2)
To enable use of a laser, choose its type with the -laserType&amp;lt;N&amp;gt; options
(e.g.: -laserType lms2xx -laserType2 urg2.0)

The default laser type for the primary laser (laser 1) is specified in the
robot type parameter file in the ARIA "params" directory. For many robots
it is "lms2xx", the SICK LMS200. For some it is "lms1xx", for the SICK
LMS100 or LMS111.

Instruct a program to connect to a laser using the -connectLaser&amp;lt;N&amp;gt; option
or by setting LaserAutoConnect to true in the robot's parameter file.
If a program requires use of a laser it usually always attempts to connect to
the primary laser, however.

The index number is optional in any options for the primary laser; i.e. 1 is
assumed if the index number is omitted.



For laser type "lms2xx" (SICK LMS-200):

-laserPort &amp;lt;laserPort&amp;gt;
-lp &amp;lt;laserPort&amp;gt;
-laserPortType &amp;lt;serial|serial422|tcp&amp;gt;
-lpt &amp;lt;serial|serial422|tcp&amp;gt;
-remoteLaserTcpPort &amp;lt;remoteLaserTcpPort&amp;gt;
-rltp &amp;lt;remoteLaserTcpPort&amp;gt;
-laserFlipped &amp;lt;true|false&amp;gt;
-lf &amp;lt;true|false&amp;gt;
-laserMaxRange &amp;lt;maxRange&amp;gt;
-lmr &amp;lt;maxRange&amp;gt;
    &amp;lt;maxRange&amp;gt; is an unsigned int less than 32000
-laserDegrees &amp;lt;100|180&amp;gt;
-ld &amp;lt;100|180&amp;gt;
-laserIncrement &amp;lt;half|one&amp;gt;
-li &amp;lt;half|one&amp;gt;
-laserUnits &amp;lt;1mm|1cm|10cm&amp;gt;
-lu &amp;lt;1mm|1cm|10cm&amp;gt;
-laserReflectorBits &amp;lt;1ref|2ref|3ref&amp;gt;
-lrb &amp;lt;1ref|2ref|3ref&amp;gt;
-laserPowerControlled &amp;lt;true|false&amp;gt;
-lpc &amp;lt;true|false&amp;gt;
-laserStartingBaud &amp;lt;9600|19200|38400&amp;gt;
-lsb &amp;lt;9600|19200|38400&amp;gt;
-laserAutoBaud &amp;lt;9600|19200|38400&amp;gt;
-lab &amp;lt;9600|19200|38400&amp;gt;
-laserAdditionalIgnoreReadings &amp;lt;readings&amp;gt;
-lair &amp;lt;readings&amp;gt;
    &amp;lt;readings&amp;gt; is a string that contains readings to ignore separated by commas, where ranges are acceptable with a -, example '75,76,90-100,-75,-76,-90--100'

For laser type "lms1xx" (SICK LMS-100, LMS-111, etc.):

-laserPort &amp;lt;laserPort&amp;gt;
-lp &amp;lt;laserPort&amp;gt;
-laserPortType &amp;lt;serial|serial422|tcp&amp;gt;
-lpt &amp;lt;serial|serial422|tcp&amp;gt;
-remoteLaserTcpPort &amp;lt;remoteLaserTcpPort&amp;gt;
-rltp &amp;lt;remoteLaserTcpPort&amp;gt;
-laserFlipped &amp;lt;true|false&amp;gt;
-lf &amp;lt;true|false&amp;gt;
-laserMaxRange &amp;lt;maxRange&amp;gt;
-lmr &amp;lt;maxRange&amp;gt;
    &amp;lt;maxRange&amp;gt; is an unsigned int less than 50000
-laserDegreesStart &amp;lt;startAngle&amp;gt;
-lds &amp;lt;startAngle&amp;gt;
    &amp;lt;startAngle&amp;gt; is a double between -135 and 135
-laserDegreesEnd &amp;lt;endAngle&amp;gt;
-lde &amp;lt;endAngle&amp;gt;
    &amp;lt;endAngle&amp;gt; is a double between -135 and 135
-laserIncrement &amp;lt;half|quarter&amp;gt;
-li &amp;lt;half|quarter&amp;gt;
-laserReflectorBits &amp;lt;none|8bits&amp;gt;
-lrb &amp;lt;none|8bits&amp;gt;
-laserPowerControlled &amp;lt;true|false&amp;gt;
-lpc &amp;lt;true|false&amp;gt;
-laserAdditionalIgnoreReadings &amp;lt;readings&amp;gt;
-lair &amp;lt;readings&amp;gt;
    &amp;lt;readings&amp;gt; is a string that contains readings to ignore separated by commas, where ranges are acceptable with a -, example '75,76,90-100,-75,-76,-90--100'

For laser type "urg2.0" (URG with SCIP 2.0):

-laserPort &amp;lt;laserPort&amp;gt;
-lp &amp;lt;laserPort&amp;gt;
-laserPortType &amp;lt;serial|serial422|tcp&amp;gt;
-lpt &amp;lt;serial|serial422|tcp&amp;gt;
-remoteLaserTcpPort &amp;lt;remoteLaserTcpPort&amp;gt;
-rltp &amp;lt;remoteLaserTcpPort&amp;gt;
-laserFlipped &amp;lt;true|false&amp;gt;
-lf &amp;lt;true|false&amp;gt;
-laserMaxRange &amp;lt;maxRange&amp;gt;
-lmr &amp;lt;maxRange&amp;gt;
    &amp;lt;maxRange&amp;gt; is an unsigned int less than 262144
-laserDegreesStart &amp;lt;startAngle&amp;gt;
-lds &amp;lt;startAngle&amp;gt;
    &amp;lt;startAngle&amp;gt; is a double between -180 and 180
-laserDegreesEnd &amp;lt;endAngle&amp;gt;
-lde &amp;lt;endAngle&amp;gt;
    &amp;lt;endAngle&amp;gt; is a double between -180 and 180
-laserIncrementByDegrees &amp;lt;incrementByDegrees&amp;gt;
-libd &amp;lt;incrementByDegrees&amp;gt;
    &amp;lt;incrementByDegrees&amp;gt; is a double between 0 and 180
-laserStartingBaud &amp;lt;0|019200|057600|115200|250000|500000|750000&amp;gt;
-lsb &amp;lt;0|019200|057600|115200|250000|500000|750000&amp;gt;
-laserAutoBaud &amp;lt;0|019200|057600|115200|250000|500000|750000&amp;gt;
-lab &amp;lt;0|019200|057600|115200|250000|500000|750000&amp;gt;
-laserAdditionalIgnoreReadings &amp;lt;readings&amp;gt;
-lair &amp;lt;readings&amp;gt;
    &amp;lt;readings&amp;gt; is a string that contains readings to ignore separated by commas, where ranges are acceptable with a -, example '75,76,90-100,-75,-76,-90--100'

For laser type "urg" (URG with old SCIP 1.0):

-laserPort &amp;lt;laserPort&amp;gt;
-lp &amp;lt;laserPort&amp;gt;
-laserPortType &amp;lt;serial|serial422|tcp&amp;gt;
-lpt &amp;lt;serial|serial422|tcp&amp;gt;
-remoteLaserTcpPort &amp;lt;remoteLaserTcpPort&amp;gt;
-rltp &amp;lt;remoteLaserTcpPort&amp;gt;
-laserFlipped &amp;lt;true|false&amp;gt;
-lf &amp;lt;true|false&amp;gt;
-laserMaxRange &amp;lt;maxRange&amp;gt;
-lmr &amp;lt;maxRange&amp;gt;
    &amp;lt;maxRange&amp;gt; is an unsigned int less than 4095
-laserDegreesStart &amp;lt;startAngle&amp;gt;
-lds &amp;lt;startAngle&amp;gt;
    &amp;lt;startAngle&amp;gt; is a double between -135 and 135
-laserDegreesEnd &amp;lt;endAngle&amp;gt;
-lde &amp;lt;endAngle&amp;gt;
    &amp;lt;endAngle&amp;gt; is a double between -135 and 135
-laserIncrementByDegrees &amp;lt;incrementByDegrees&amp;gt;
-libd &amp;lt;incrementByDegrees&amp;gt;
    &amp;lt;incrementByDegrees&amp;gt; is a double between 0 and 135
-laserStartingBaud &amp;lt;019200|057600|115200|250000|500000|750000&amp;gt;
-lsb &amp;lt;019200|057600|115200|250000|500000|750000&amp;gt;
-laserAutoBaud &amp;lt;019200|057600|115200|250000|500000|750000&amp;gt;
-lab &amp;lt;019200|057600|115200|250000|500000|750000&amp;gt;
-laserAdditionalIgnoreReadings &amp;lt;readings&amp;gt;
-lair &amp;lt;readings&amp;gt;
    &amp;lt;readings&amp;gt; is a string that contains readings to ignore separated by commas, where ranges are acceptable with a -, example '75,76,90-100,-75,-76,-90--100'

For laser type "lms5XX" (SICK LMS-500):

-laserPort &amp;lt;laserPort&amp;gt;
-lp &amp;lt;laserPort&amp;gt;
-laserPortType &amp;lt;serial|serial422|tcp&amp;gt;
-lpt &amp;lt;serial|serial422|tcp&amp;gt;
-remoteLaserTcpPort &amp;lt;remoteLaserTcpPort&amp;gt;
-rltp &amp;lt;remoteLaserTcpPort&amp;gt;
-laserFlipped &amp;lt;true|false&amp;gt;
-lf &amp;lt;true|false&amp;gt;
-laserMaxRange &amp;lt;maxRange&amp;gt;
-lmr &amp;lt;maxRange&amp;gt;
    &amp;lt;maxRange&amp;gt; is an unsigned int less than 80000
-laserDegreesStart &amp;lt;startAngle&amp;gt;
-lds &amp;lt;startAngle&amp;gt;
    &amp;lt;startAngle&amp;gt; is a double between -95 and 95
-laserDegreesEnd &amp;lt;endAngle&amp;gt;
-lde &amp;lt;endAngle&amp;gt;
    &amp;lt;endAngle&amp;gt; is a double between -95 and 95
-laserIncrement &amp;lt;half|one|quarter&amp;gt;
-li &amp;lt;half|one|quarter&amp;gt;
-laserReflectorBits &amp;lt;none|8bits&amp;gt;
-lrb &amp;lt;none|8bits&amp;gt;
-laserPowerControlled &amp;lt;true|false&amp;gt;
-lpc &amp;lt;true|false&amp;gt;
-laserAdditionalIgnoreReadings &amp;lt;readings&amp;gt;
-lair &amp;lt;readings&amp;gt;
    &amp;lt;readings&amp;gt; is a string that contains readings to ignore separated by commas, where ranges are acceptable with a -, example '75,76,90-100,-75,-76,-90--100'

For laser type "sZseries" (Keyence SZ):

-laserPort &amp;lt;laserPort&amp;gt;
-lp &amp;lt;laserPort&amp;gt;
-laserPortType &amp;lt;serial|serial422|tcp&amp;gt;
-lpt &amp;lt;serial|serial422|tcp&amp;gt;
-remoteLaserTcpPort &amp;lt;remoteLaserTcpPort&amp;gt;
-rltp &amp;lt;remoteLaserTcpPort&amp;gt;
-laserFlipped &amp;lt;true|false&amp;gt;
-lf &amp;lt;true|false&amp;gt;
-laserMaxRange &amp;lt;maxRange&amp;gt;
-lmr &amp;lt;maxRange&amp;gt;
    &amp;lt;maxRange&amp;gt; is an unsigned int less than 16382
-laserDegreesStart &amp;lt;startAngle&amp;gt;
-lds &amp;lt;startAngle&amp;gt;
    &amp;lt;startAngle&amp;gt; is a double between -135 and -135
-laserDegreesEnd &amp;lt;endAngle&amp;gt;
-lde &amp;lt;endAngle&amp;gt;
    &amp;lt;endAngle&amp;gt; is a double between 135 and 135
-laserIncrementByDegrees &amp;lt;incrementByDegrees&amp;gt;
-libd &amp;lt;incrementByDegrees&amp;gt;
    &amp;lt;incrementByDegrees&amp;gt; is a double between 0.5 and 0.5
-laserPowerControlled &amp;lt;true|false&amp;gt;
-lpc &amp;lt;true|false&amp;gt;
-laserStartingBaud &amp;lt;9600|19200|38400|57600|115200|230400|460800&amp;gt;
-lsb &amp;lt;9600|19200|38400|57600|115200|230400|460800&amp;gt;
-laserAdditionalIgnoreReadings &amp;lt;readings&amp;gt;
-lair &amp;lt;readings&amp;gt;
    &amp;lt;readings&amp;gt; is a string that contains readings to ignore separated by commas, where ranges are acceptable with a -, example '75,76,90-100,-75,-76,-90--100'

For laser type "s3series" (SICK S-300, S-3000, etc.):

-laserPort &amp;lt;laserPort&amp;gt;
-lp &amp;lt;laserPort&amp;gt;
-laserPortType &amp;lt;serial|serial422|tcp&amp;gt;
-lpt &amp;lt;serial|serial422|tcp&amp;gt;
-remoteLaserTcpPort &amp;lt;remoteLaserTcpPort&amp;gt;
-rltp &amp;lt;remoteLaserTcpPort&amp;gt;
-laserFlipped &amp;lt;true|false&amp;gt;
-lf &amp;lt;true|false&amp;gt;
-laserMaxRange &amp;lt;maxRange&amp;gt;
-lmr &amp;lt;maxRange&amp;gt;
    &amp;lt;maxRange&amp;gt; is an unsigned int less than 20000
-laserDegreesStart &amp;lt;startAngle&amp;gt;
-lds &amp;lt;startAngle&amp;gt;
    &amp;lt;startAngle&amp;gt; is a double between -135 and -135
-laserDegreesEnd &amp;lt;endAngle&amp;gt;
-lde &amp;lt;endAngle&amp;gt;
    &amp;lt;endAngle&amp;gt; is a double between 135 and 135
-laserIncrement &amp;lt;half&amp;gt;
-li &amp;lt;half&amp;gt;
-laserPowerControlled &amp;lt;true|false&amp;gt;
-lpc &amp;lt;true|false&amp;gt;
-laserStartingBaud &amp;lt;9600|19200|38400|57600|115200|230400|460800&amp;gt;
-lsb &amp;lt;9600|19200|38400|57600|115200|230400|460800&amp;gt;
-laserAdditionalIgnoreReadings &amp;lt;readings&amp;gt;
-lair &amp;lt;readings&amp;gt;
    &amp;lt;readings&amp;gt; is a string that contains readings to ignore separated by commas, where ranges are acceptable with a -, example '75,76,90-100,-75,-76,-90--100'

For laser type "tim510" or "tim3XX" (SICK TiM310 and TiM510):

-laserPort &amp;lt;laserPort&amp;gt;
-lp &amp;lt;laserPort&amp;gt;
-laserPortType &amp;lt;serial|serial422|tcp&amp;gt;
-lpt &amp;lt;serial|serial422|tcp&amp;gt;
-remoteLaserTcpPort &amp;lt;remoteLaserTcpPort&amp;gt;
-rltp &amp;lt;remoteLaserTcpPort&amp;gt;
-laserFlipped &amp;lt;true|false&amp;gt;
-lf &amp;lt;true|false&amp;gt;
-laserMaxRange &amp;lt;maxRange&amp;gt;
-lmr &amp;lt;maxRange&amp;gt;
    &amp;lt;maxRange&amp;gt; is an unsigned int less than 4000
-laserDegreesStart &amp;lt;startAngle&amp;gt;
-lds &amp;lt;startAngle&amp;gt;
    &amp;lt;startAngle&amp;gt; is a double between -135 and 135
-laserDegreesEnd &amp;lt;endAngle&amp;gt;
-lde &amp;lt;endAngle&amp;gt;
    &amp;lt;endAngle&amp;gt; is a double between -135 and 135
-laserIncrement &amp;lt;three&amp;gt;
-li &amp;lt;three&amp;gt;
-laserReflectorBits &amp;lt;none|8bits&amp;gt;
-lrb &amp;lt;none|8bits&amp;gt;
-laserPowerControlled &amp;lt;true|false&amp;gt;
-lpc &amp;lt;true|false&amp;gt;
-laserStartingBaud &amp;lt;115200&amp;gt;
-lsb &amp;lt;115200&amp;gt;
-laserAdditionalIgnoreReadings &amp;lt;readings&amp;gt;
-lair &amp;lt;readings&amp;gt;
    &amp;lt;readings&amp;gt; is a string that contains readings to ignore separated by commas, where ranges are acceptable with a -, example '75,76,90-100,-75,-76,-90--100'

For laser type "tim551" (SICK TiM551):

-laserPort &amp;lt;laserPort&amp;gt;
-lp &amp;lt;laserPort&amp;gt;
-laserPortType &amp;lt;serial|serial422|tcp&amp;gt;
-lpt &amp;lt;serial|serial422|tcp&amp;gt;
-remoteLaserTcpPort &amp;lt;remoteLaserTcpPort&amp;gt;
-rltp &amp;lt;remoteLaserTcpPort&amp;gt;
-laserFlipped &amp;lt;true|false&amp;gt;
-lf &amp;lt;true|false&amp;gt;
-laserMaxRange &amp;lt;maxRange&amp;gt;
-lmr &amp;lt;maxRange&amp;gt;
    &amp;lt;maxRange&amp;gt; is an unsigned int less than 10000
-laserDegreesStart &amp;lt;startAngle&amp;gt;
-lds &amp;lt;startAngle&amp;gt;
    &amp;lt;startAngle&amp;gt; is a double between -135 and 135
-laserDegreesEnd &amp;lt;endAngle&amp;gt;
-lde &amp;lt;endAngle&amp;gt;
    &amp;lt;endAngle&amp;gt; is a double between -135 and 135
-laserIncrement &amp;lt;one&amp;gt;
-li &amp;lt;one&amp;gt;
-laserReflectorBits &amp;lt;none|8bits&amp;gt;
-lrb &amp;lt;none|8bits&amp;gt;
-laserPowerControlled &amp;lt;true|false&amp;gt;
-lpc &amp;lt;true|false&amp;gt;
-laserAdditionalIgnoreReadings &amp;lt;readings&amp;gt;
-lair &amp;lt;readings&amp;gt;
    &amp;lt;readings&amp;gt; is a string that contains readings to ignore separated by commas, where ranges are acceptable with a -, example '75,76,90-100,-75,-76,-90--100'

For laser type "tim561" (SICK TiM561):

-laserPort &amp;lt;laserPort&amp;gt;
-lp &amp;lt;laserPort&amp;gt;
-laserPortType &amp;lt;serial|serial422|tcp&amp;gt;
-lpt &amp;lt;serial|serial422|tcp&amp;gt;
-remoteLaserTcpPort &amp;lt;remoteLaserTcpPort&amp;gt;
-rltp &amp;lt;remoteLaserTcpPort&amp;gt;
-laserFlipped &amp;lt;true|false&amp;gt;
-lf &amp;lt;true|false&amp;gt;
-laserMaxRange &amp;lt;maxRange&amp;gt;
-lmr &amp;lt;maxRange&amp;gt;
    &amp;lt;maxRange&amp;gt; is an unsigned int less than 10000
-laserDegreesStart &amp;lt;startAngle&amp;gt;
-lds &amp;lt;startAngle&amp;gt;
    &amp;lt;startAngle&amp;gt; is a double between -135 and 135
-laserDegreesEnd &amp;lt;endAngle&amp;gt;
-lde &amp;lt;endAngle&amp;gt;
    &amp;lt;endAngle&amp;gt; is a double between -135 and 135
-laserIncrement &amp;lt;one&amp;gt;
-li &amp;lt;one&amp;gt;
-laserReflectorBits &amp;lt;none|8bits&amp;gt;
-lrb &amp;lt;none|8bits&amp;gt;
-laserPowerControlled &amp;lt;true|false&amp;gt;
-lpc &amp;lt;true|false&amp;gt;
-laserAdditionalIgnoreReadings &amp;lt;readings&amp;gt;
-lair &amp;lt;readings&amp;gt;
    &amp;lt;readings&amp;gt; is a string that contains readings to ignore separated by commas, where ranges are acceptable with a -, example '75,76,90-100,-75,-76,-90--100'

For laser type "tim571" (SICK TiM571):

-laserPort &amp;lt;laserPort&amp;gt;
-lp &amp;lt;laserPort&amp;gt;
-laserPortType &amp;lt;serial|serial422|tcp&amp;gt;
-lpt &amp;lt;serial|serial422|tcp&amp;gt;
-remoteLaserTcpPort &amp;lt;remoteLaserTcpPort&amp;gt;
-rltp &amp;lt;remoteLaserTcpPort&amp;gt;
-laserFlipped &amp;lt;true|false&amp;gt;
-lf &amp;lt;true|false&amp;gt;
-laserMaxRange &amp;lt;maxRange&amp;gt;
-lmr &amp;lt;maxRange&amp;gt;
    &amp;lt;maxRange&amp;gt; is an unsigned int less than 25000
-laserDegreesStart &amp;lt;startAngle&amp;gt;
-lds &amp;lt;startAngle&amp;gt;
    &amp;lt;startAngle&amp;gt; is a double between -135 and 135
-laserDegreesEnd &amp;lt;endAngle&amp;gt;
-lde &amp;lt;endAngle&amp;gt;
    &amp;lt;endAngle&amp;gt; is a double between -135 and 135
-laserIncrement &amp;lt;third&amp;gt;
-li &amp;lt;third&amp;gt;
-laserReflectorBits &amp;lt;none|8bits&amp;gt;
-lrb &amp;lt;none|8bits&amp;gt;
-laserPowerControlled &amp;lt;true|false&amp;gt;
-lpc &amp;lt;true|false&amp;gt;
-laserAdditionalIgnoreReadings &amp;lt;readings&amp;gt;
-lair &amp;lt;readings&amp;gt;
    &amp;lt;readings&amp;gt; is a string that contains readings to ignore separated by commas, where ranges are acceptable with a -, example '75,76,90-100,-75,-76,-90--100'
</pre><h1><a class="anchor" id="ArPTZConnector"></a>
ArPTZConnector</h1>
<p>(See <a class="el" href="classArPTZConnector.html" title="Factory for creating and configuring interfaces for pan/tilt units or camera pan/tilt/zoom control ba...">ArPTZConnector</a> for class documentation)</p>
<pre class="fragment">Common PTU and Camera PTZ options:

    -ptzType &amp;lt;type&amp;gt;   Select PTZ/PTU type. Required.  Available types are:
        dpptu
        rvision
        sony
        vcc
        vcc4
        vcc50i
        none
    -ptzInverted &amp;lt;true|false&amp;gt; If true, reverse tilt and pan axes for cameras mounted upside down.

Only one of the following sets of connection parameters may be given:

For computer serial port connections:
    -ptzSerialPort &amp;lt;port&amp;gt; Serial port name.

For Pioneer robot auxilliary serial port connections:
    -ptzRobotAuxSerialPort &amp;lt;1|2|3&amp;gt;    Use specified Pioneer robot auxilliary serial port.

For network connections:
    -ptzAddress &amp;lt;address&amp;gt; Network address or hostname for network connection.
    -ptzTcpPort &amp;lt;port&amp;gt;    TCP port number for network connections.
    -ptzUsername &amp;lt;username&amp;gt;   Username, if camera requires it
    -ptzPassword &amp;lt;password&amp;gt;   Password, if camera requires it

Parameters for multiple cameras/units may be given like: -ptz1Type, -ptz2Type, -ptz3Type, etc.
Some PTZ/PTU types may accept additional type-specific options. Refer to option documentation text specific to those types.
</pre><h1><a class="anchor" id="ArGPSConnector"></a>
ArGPSConnector</h1>
<p>(See <a class="el" href="classArGPSConnector.html" title="Factory for creating GPS interface object (for any kind of GPS supported by ARIA) based on robot para...">ArGPSConnector</a> for class documentation)</p>
<pre class="fragment">GPS options:
-gpsType &amp;lt;standard|novatel|novatelspan|trimble|sim&amp;gt;   Select GPS device type (default: standard)
-gpsPort &amp;lt;gpsSerialPort&amp;gt;  Use the given serial port (default: /dev/ttyS1)
-gpsBaud &amp;lt;gpsSerialBaudRate&amp;gt;  Use the given serial Baud rate (default: 9600)
-remoteGpsTcpHost &amp;lt;host&amp;gt;  Use a TCP connection instead of serial, and connect to remote host &amp;lt;host&amp;gt;
-remoteGpsTcpPort &amp;lt;host&amp;gt;  Use the given port number for TCP connection, if using TCP. (default 8103)
</pre><h1><a class="anchor" id="ArCompassConnector"></a>
ArCompassConnector</h1>
<p>(See <a class="el" href="classArCompassConnector.html" title="Use this class to create an instance of a TCM2 subclass and connect to the device based on program co...">ArCompassConnector</a> for class documentation)</p>
<pre class="fragment">Compass options:
-compassType &amp;lt;robot|serialTCM&amp;gt;    Select compass device type (default: robot)
-compassPort &amp;lt;port&amp;gt;   Serial port for "serialTCM" type compass. (default: /dev/ttyS3)
</pre><h1><a class="anchor" id="ArSonarConnector"></a>
ArSonarConnector</h1>
<p>(See <a class="el" href="classArSonarConnector.html" title="Connect to sonar based on robot parameters and command-line arguments. ">ArSonarConnector</a> for class documentation)</p>
<pre class="fragment">Options for ArSonarConnector:
-sonarLogPacketsReceived
-slpr
-sonarLogPacketsSent
-slps

Options shown are for currently set up sonars.  Activate sonars with -sonarType&amp;lt;N&amp;gt; option
to see options for that sonar (e.g. "-help -sonarType1 sonarMTX").
Valid sonar types are: mtx

See docs for details.
</pre><h1><a class="anchor" id="ArBatteryConnector"></a>
ArBatteryConnector</h1>
<p>(See <a class="el" href="classArBatteryConnector.html" title="Connect to robot and battery based on run-time availablitily and command-line arguments. ">ArBatteryConnector</a> for class documentation)</p>
<pre class="fragment">Options for ArBatteryConnector:
-batteryLogPacketsReceived
-blpr
-batteryLogPacketsSent
-blps

Options shown are for currently set up batteries.  Activate batteries with -batteryType&amp;lt;N&amp;gt; option
to see options for that battery (e.g. "-help -batteryType1 batteryMTX").
Valid battery types are: mtx

See docs for details.
</pre><h1><a class="anchor" id="ArLCDConnector"></a>
ArLCDConnector</h1>
<p>(See <a class="el" href="classArLCDConnector.html" title="Connect to robot and lcd based on run-time availablitily and command-line arguments. ">ArLCDConnector</a> for class documentation)</p>
<pre class="fragment">Options for ArLCDConnector:
-lcdLogPacketsReceived
-lcdlpr
-lcdLogPacketsSent
-lcdlps

Options shown are for currently set up lcds.  Activate lcds with -lcdType&amp;lt;N&amp;gt; option
to see options for that lcd (e.g. "-help -lcdType1 lcdMTX").
Valid lcd types are: mtx

See docs for details.
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